mujoco

<mujoco>
  <statistic meansize="0.15"/>

  <visual>
    <map force="0.02"/>
    <scale contactheight=".05" contactwidth=".2"/>
    <headlight ambient=".4 .4 .4"/>
  </visual>

  <option>
    <flag gravity="disable"/>
  </option>

  <worldbody>
    <light pos="0 0 1"/>

    <body pos="0 0 .3">
      <freejoint/>
      <geom type="sphere" size=".05" rgba=".5 .5 .5 .5" margin="0.1" gap="0.1"/>
    </body>

    <body pos="-.5 0 .3">
      <freejoint/>
      <geom type="sphere" size=".1" rgba=".5 .5 .5 .5"/>
    </body>

    <body mocap="true"  pos="-1 0 0">
      <geom type="cylinder" size=".2 .01" rgba=".5 .5 .5 .3" margin=".04"/>
    </body>

    <body mocap="true"  pos="-.5 0 0">
      <geom type="cylinder" size=".2 .04" rgba=".5 .5 .5 .3"/>
    </body>

    <body mocap="true">
      <geom type="cylinder" size=".2 .2" rgba=".5 .5 .5 .3"/>
    </body>

    <body mocap="true" pos=".5 0 0">
      <geom type="cylinder" size=".02 .1" rgba=".5 .5 .5 .3"/>
    </body>

  </worldbody>
</mujoco>